zrok is a similar capability (though it can potentially do a lot more). OpenZiti is definitely a more complex project. In fact, zrok was built on top of OpenZiti.

We did this as Ziti provides a platform to develop secure by default, distributed applications quicker, which is why zrok has been built by only 1 developer across about 18 months and is almost feature parity with Ngrok (which has been developed by many people for almost 10 years).

I worked on a minimal self-hosted ziti for Docker here https://github.com/openziti/ziti/tree/release-next/quickstar... and minimal self-hosted zrok (includes ziti) for Docker here https://docs.zrok.io/docs/guides/self-hosting/docker/

...so, basically:

wget https://get.openziti.io/dock/all-in-one/compose.yml docker compose up

No they does what you already did and not really complex to setup.